TWI665998B - Endoscope device - Google Patents

Abstract

Provides a high-resolution, compact and lightweight endoscope device.

An endoscope apparatus (100) according to the present invention includes: An insertion section (110) for guiding light from a subject into a body cavity; an illumination mechanism (120) installed on the insertion section (110) for illuminating the subject; and having a picture arranged in a matrix of 8K level or higher The imaging element receives the reflected light from the object guided by the insertion unit (110), and outputs an imaging element of the imaging signal of the object. The insertion unit (110) and the lighting device (120) can be installed, and Camera device that can be held / carried by human hands; camera device (130), the cross-sectional area of the mounting portion (135) of the built-in camera element (131) perpendicular to the optical axis, is greater than or equal to that held by human hands A cross-sectional area of the grip portion (136) perpendicular to the optical axis.

Description

Endoscope device

The present invention relates to an endoscope device. The details are endoscope devices using 8K high-resolution imaging technology.

Endoscopes that insert an elongated insertion portion into a body cavity and perform minimally invasive surgery to take pictures of the inside of the body cavity are being widely used. Recently, the risk of cancer among Japanese nationals is about 50%, and the use of endoscopes tends to expand.

In addition, due to the development of communication technology, image processing technology, and optical technology, high-resolution image technology called 8K has continued to be put into practical use. However, the change from 2K → 4K → 8K is not just a simple increase in memory. In the field of medical equipment using endoscopes and the field of minimally invasive surgery, it has continued to cause substantial technological innovation. If 8K high-resolution imaging technology is applied to the endoscope device, for example, thin lines for surgery or the delicate affected part of the organ, the boundary between the organ / tissue can be recognized, and cell-level observation can be realized. As a result, the reliability and reliability of the surgery are increased, and the progress of medical technology is expected. In other words, the visibility of the affected part of the organ is improved, and the risk of accidentally damaging the affected part is reduced. In addition, the surgical field of vision can be enlarged. Even in a wide range of operations, the operation is easy, and the position of the surgical machine can be confirmed. Or to avoid interference between surgical machines also becomes simple. Furthermore, it can also be observed on a large screen, so that all persons involved in the surgery can share the same image, and communication becomes smooth (see Non-Patent Document 1). In this case, the use of 8K high-resolution imaging technology has huge development potential.

[Prior technical literature] [Non-patent literature]

[Non-Patent Document 1] Masahiro Yamashita, "Application of 8K TV Technology for Endoscopic Surgery", 2015 First Survey Committee on Optical Technology Trends, May 25, 2015

However, when using 8K high-resolution imaging technology (hereinafter, also referred to simply as 8K), we continue to find points for change.

FIG. 17 shows an example of a conventional 8K imaging device. So far, 8K imaging technology can also be developed in the field of broadcasting, and it has the disadvantage of being large and heavy when it is installed in an endoscope device and used. Even the surgical supporter holding 2 people was quite heavy. Moreover, in a minimally invasive surgery using an endoscope device, a human hand is used to control subtle changes in the imaging space. When operating an endoscope device, it is more appropriate to reduce the size of the endoscope device to hold the grip in the hand.

The present invention has been made in view of the foregoing circumstances, and an object thereof is to provide a high-resolution, compact and lightweight endoscope device.

In order to solve the above-mentioned problems, the endoscope apparatus 100 according to the first aspect of the present invention includes, for example, as shown in FIG. 1, an insertion section 110 inserted into a body cavity and guiding light from the subject A; The inserting unit 110 illuminates the lighting mechanism 120 of the subject A; it has pixels arranged at 8K levels or more arranged in a matrix, and receives reflected light from the subject A guided by the inserting unit 110 to capture the subject The image pickup device 131 that outputs the image pickup signal of the object A can be installed with the insertion section 110 and the lighting device 120, and can be held / carried by a human hand. The image pickup device 130 includes a mounting section of the image pickup device 131. The cross-sectional area of 135 perpendicular to the optical axis OA (one-dot chain line in FIG. 5) is preferably greater than or equal to the cross-sectional area of the holding portion 136 that is held / transported by the human hand perpendicular to the optical axis OA.

The "8K level" or "8K equivalent" as used herein refers to a degree of resolution equivalent to a high-definition resolution image that can be realized in 8K (7680 × 4320 pixels). However, in real society, a resolution higher than a 4K resolution (3840 × 2160 pixels) may be used. Therefore, what is said here is a case where the resolution is higher than 6K (specifically, the number of pixels of a frame is 20 million or more). Since it is "more than 8K levels", it is possible to use a pixel number of 8K resolution (7680 × 4320 pixels) or more.

As a typical cross-sectional area, in 8K, the mounting portion 135 is 80 ± 10mm × 80 ± 10mm, and the holding portion 136 is 60 ± 10mm × 53 ± 10mm. Better. If the erecting portion 135 is too large, it becomes heavy, and if it is too small, the pixel pitch is insufficient and the image becomes unclear. If the holding portion 136 is too large or too small, it is not easy to hold. Since "8K or more", the cross-sectional area of the erection portion 135 may be large.

With such a configuration, it is possible to provide an endoscope device having a small and lightweight imaging device 130 having a high resolution.

In addition, for example, when the imaging device 130 is placed on a horizontal plane, the optical axis is horizontal, and the like, even if a flange having the same cross-sectional area as the mounting portion 135 is installed behind the holding portion 136. The cross-sectional area is compared with the cross-sectional area of the grip portion 136.

The endoscope device 100 according to the second aspect of the present invention includes, for example, as shown in FIG. 1, an insertion section 110 that is inserted into a body cavity and guides light from the subject A; A lighting mechanism 120 for illuminating the subject A; having pixels arranged at a level of 8K or more arranged in a matrix, and receiving reflected light from the subject A guided by the inserting unit 110, The imaging device 131 that outputs the imaging signal can be installed with the insertion section 110 and the lighting device 120 and can be held / carried by a human hand. The imaging device 130 has a pitch of 2.8 μm or more and 3.8 μm or less.

The pixel pitch (pixel pitch) P is suitably 2.8 to 3.8 μm. If the pitch is too small, interference images will be blurred. If it is too large, the substrate becomes large, and volume / weight, speed, and the like become disadvantageous. 3.0 ~ 3.5μm is more suitable.

In addition, an endoscope apparatus according to a third aspect of the present invention 100. In the first aspect, for example, as shown in FIG. 1, the lighting device 120, the imaging device 130, and the control device 140 are each constituted by an individual body, and the weight of the imaging device 130 is 500 g or less.

Among them, the control device 140 includes a control unit 141, a video processing unit 142, and a memory unit 143. These portions are arranged outside the imaging device 130 to reduce the weight of the imaging device 130. In addition, the casing of the imaging device 130 is made of lightweight metal or lightweight plastic (FRP, etc.) to reduce the weight of the imaging device 130. In addition, even if the entire portion of the control device 140 is not disposed outside the imaging device 140, only the portion that does not affect the weight may remain in the imaging device 140. For example, 90% or more of the weight may be disposed outside the imaging device 140.

At present, the weight of the previously-reduced endoscope device is 2.2 kg (see FIG. 17). In this aspect, in addition to the miniaturization of the first aspect, the weight reduction described above enables the weight of the imaging device 130 to be 500 g or less.

With such a configuration, the imaging device can be made lighter than the first aspect.

Moreover, regarding the endoscope device 100 according to the fourth aspect of the present invention, in any of the first to third aspects, as shown in FIG. The lens system of the objective lens 112 and a diffusion layer that diffuses light supplied from the lighting device 120 and emits the light to the subject A.

Here, by using a wide-angle lens for the objective lens, a wider viewing angle can be realized. It is equivalent to 8K, and 80 to 180 degrees is preferred.

With this configuration, the lens system can widen the viewing angle.

In the fifth aspect of the endoscope device 100 of the present invention, in any of the first to fourth aspects, as shown in, for example, FIGS. 1 and 7, the imaging device 130 has A / D conversion unit of pixel data; the endoscope device 100 further includes a memory unit 143 having memory of pixel data provided from the imaging device 130, constructing frame data from the pixel data, and converting the frame data A control device 140 of the image processing unit 142 that performs processing and uses digital zoom to adjust the magnification of the frame data; and a display device 150 that displays the frame data constructed by the image processing unit 142 on a large screen.

Here, the digital zoom (electronic zoom) refers to cutting out and expanding a part of a photographed image. Because 8K can also get high resolution in detail, enlargement will not cause sharpness degradation. In addition, the aspect ratio can also be changed. The "large screen" refers to a monitor screen of 30 inches or more.

With this structure, high resolution can be obtained with a digital zoom even if the viewing angle becomes larger.

In order to solve the above problems, the endoscope apparatus 100 according to a sixth aspect of the present invention includes, for example, an insertion section 110 inserted into a body cavity and guiding light from the subject A as shown in FIG. The unit 110 is an illuminating mechanism 120 for illuminating the subject A. The unit 110 is equipped with pixels of 8K level or more arranged in a matrix, and receives reflected light from the subject A guided by the inserting unit 110, and subjects the subject. A camera element 131 that outputs the camera signal of A, and can be installed with the insertion part 110 and the lighting device 120, and a camera device 130 that can be held / carried by a human hand; and the endoscope device 100 further includes: a memory unit 143 having a memory of pixel data provided from the camera device 130, and a frame from the pixel data Control device 140 of the image processing unit 142 that processes frame data and uses digital zoom to adjust the magnification of the frame data; a display device that displays the frame data constructed by the image processing unit 142 on a large screen 150; Wherein, the distance A between the front end of the insertion portion 110 and the subject can be focused on the subject A within 1 to 15 cm.

Here, the distance between the front end of the insertion portion 110 and the subject A is preferably from 1 to 15 cm, and more preferably from 8 to 12 cm from the perspective of the wide operating space and easy observation of the surgical area.

With this configuration, since the distance between the front end of the insertion section 110 and the subject A is kept away, a wide surgical space can be made between the front end of the insertion section 110 and the subject A. Therefore, it is possible to display not only the surgical part but also a wide area image of the surrounding area. In addition, minimally invasive, single-hole surgery can be achieved, and conflicts between surgical instruments can be reduced.

In addition, by using digital zoom at 8K, small areas can be observed with high definition. By zooming in / out, it is possible to switch between micro area and wide area at the same time. This makes it possible to shorten the replacement time of the surgical instrument.

In addition, because it is displayed on a large screen, all the persons involved in the surgery can share images during the operation. Also, no magnifying glass is required.

The creation of such a wide surgical space, digital zoom, and large screen display can strongly change the operating environment. Improved medical treatment with high reliability and safety.

In the endoscope device according to the seventh aspect of the present invention, the length of the cylindrical portion 111 of the insertion portion 110 is 10 to 20 cm.

With such a configuration, since the length of the insertion section 110 is shortened, it is possible to reduce the image shake caused by the hand shake of the operator holding the imaging device. In addition, since the number of relay lenses is small, attenuation or aberration of light is reduced, and the lens system becomes bright. Therefore, a sharp image can be obtained.

According to the present invention, it is possible to provide a compact and lightweight endoscope device with high resolution.

100‧‧‧Endoscope device

110‧‧‧ Insertion section

111‧‧‧ tube

112‧‧‧Object lens

113‧‧‧ hollow light guide area

114‧‧‧ Eyepiece mount

115‧‧‧ Eyepiece

120‧‧‧lighting device

121‧‧‧ Optical Fiber

122‧‧‧ diffusion layer

123‧‧‧Light source department

125‧‧‧LED components

126‧‧‧1st drive circuit

130‧‧‧ Camera

131‧‧‧ camera element

132‧‧‧ 2nd drive circuit

133‧‧‧A / D conversion department

134‧‧‧Department

135‧‧‧Erecting Department

136‧‧‧holding department

137, 137A, 137B ‧‧‧ Cooling mechanism (Peltier element)

138‧‧‧Frame

139A‧‧‧Suction port

139B‧‧‧Exhaust port

140‧‧‧control device

141‧‧‧Control Department

142‧‧‧Image Processing Department

143‧‧‧Memory Department

144‧‧‧Input and output IF

145‧‧‧input device

146‧‧‧cable

150‧‧‧ display device

211‧‧‧Circular

221‧‧‧optical fiber

231‧‧‧ substrate

232‧‧‧round frame

233‧‧‧ aperture

234‧‧‧Frame part of a substrate on which an image sensor is mounted

A‧‧‧Subject

OA‧‧‧Optical axis

Fig. 1 is a diagram showing a configuration of an endoscope apparatus according to a first embodiment.

FIG. 2 is a diagram showing detailed configurations of a lighting device and an imaging device.

FIG. 3 is a diagram for explaining a pixel pitch of an imaging element.

[Fig. 4] An external view of an imaging device.

FIG. 5 is a diagram showing a substrate arrangement and a frame size of an imaging device. Fig. 5 (a) is a front view, Fig. 5 (b) is a plan view, and Fig. 5 (c) is a cross-sectional view taken along A-A.

[Fig. 6] An assembly view of components of the imaging device. Fig. 6 (a) is an exploded view, and Fig. 6 (b) is a perspective view of the completed body after assembly.

7 is a block diagram showing a detailed configuration of a control device.

[Fig. 8] Fig. 8 is a diagram showing an optical fiber arrangement in a cylindrical portion of an insertion portion. Figure 8 (a) shows a configuration in which one optical fiber is provided, and FIG. 8 (b) shows a configuration in which a plurality of optical fibers are arranged along the circumference.

[Fig. 9] Fig. 9 is a diagram showing a comparative example (part 1) of an endoscopic image of 8K and 2K. Fig. 9 (a) is an endoscope image (photographic image), Fig. 9 (b) is a 256-times enlarged image at 2K, and Fig. 9 (c) is a 256-times enlarged image at 8K.

[Fig. 10] A diagram for explaining a new operation space using an 8K endoscope.

11 is a diagram showing a configuration example of an 8K endoscope system in a pattern.

FIG. 12 is a diagram showing a comparative example (part 2) of an endoscopic image of 8K and 2K. Fig. 12 (a) is a 2K endoscope image (photographed image and an enlarged view of a part thereof), and Fig. 12 (b) is an 8K endoscope image (photographed image and an enlarged view of a part thereof).

FIG. 13 is a diagram for explaining a method of observing a boundary (adhesive interface) between an organ and a tissue. FIG. 13 (a) is a diagram for explaining the adhesion interface, and FIG. 13 (b) is a diagram for separating the adhesion interface.

14 is a diagram comparing a field of view of a 2K endoscope and a field of view of an 8K endoscope. FIG. 14 (a) is a diagram showing an example of an 8K endoscope image, and FIG. 14 (b) is a diagram showing an example of a 2K endoscope image.

Fig. 15 is a diagram for explaining the superiority of an 8K endoscope in a single-hole operation.

FIG. 16 is a diagram for explaining the superiority of the 8K endoscope during the exchange of surgical instruments. Figure 16 (a) is a diagram illustrating a 2K endoscope operation. Fig. 16 (b) is a diagram for explaining the exchange of surgical instruments with an 8K endoscope.

17 is a diagram showing an example of a conventional imaging device.

[Embodiment]

Hereinafter, an endoscope apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings.

[Example 1]

FIG. 1 shows the configuration of the endoscope apparatus of this embodiment. The endoscope apparatus 100 according to this embodiment is mainly a rigid mirror used as a laparoscope or a laparoscope, and includes an insertion section 110, a lighting device 120, an imaging device 130, a control device 140, and a display device 150.

The insertion portion 110 is an elongated member that is inserted into a body cavity of a subject or the like. The insertion portion 110 includes a cylindrical portion 111, an objective lens 112, and a hollow light guide region 113.

The cylindrical portion 111 is a metal material such as a stainless steel material or a hard resin material, and is, for example, a member formed in a cylindrical shape or a cylindrical shape having a diameter of 8 mm to 9 mm. The illuminating device 120 is attached to the side near the base end of the cylindrical portion 111 so as to be attachable and detachable, and the imaging device 130 is attached to the base end of the cylindrical portion 111 so as to be attachable and detachable.

The objective lens 112 is a light guide mechanism that absorbs light irradiated by the illumination device 120 and reflected by the subject A in the body cavity. Objective lens 112, for example, is constituted by a wide-angle lens. With this, a wider perspective can be obtained. The viewing angle is preferably 80 degrees to 180 degrees or more. The objective lens 112 is arranged to be exposed from the front end surface of the insertion portion 110. The object lens 112 collects the reflected light from the subject A and passes through the hollow light guide region 113 to form an image of the subject A on the imaging surface of the imaging device 131 (see FIG. 2) in which the imaging device 130 is disposed. The side surface of the objective lens 112 is fixed to the inner wall surface of the front end portion of the cylindrical portion 111 with an adhesive or the like, and the front end surface of the insertion portion 110 is sealed.

The hollow light guide region 113 is a space disposed between the base end portion and the front end portion of the cylindrical portion 111, and functions as a light guide mechanism that guides light passing through the objective lens 112 to the imaging device 130.

FIG. 2 is a diagram showing a detailed configuration of the illumination device 120 and the imaging device 130 of the endoscope device 100. The lighting device 120 includes an optical fiber 121, a diffusion layer 122, and a light source section 123. The optical fiber 121 is pulled out from the light source portion 123 and is fixed to the inner surface of the cylindrical portion 111 by an adhesive or the like, and extends to the diffusion layer 122 at the front end portion of the cylindrical portion of the cylindrical portion.

The diffusion layer 122 (see FIG. 1) diffuses and outputs light supplied from the light source section 123 through the optical fiber 121. The diffusion layer 122 is composed of, for example, a diffusion plate or a diffusion lens that diffuses and emits incident light. The light is diffused to cover the viewing angle obtained by the wide-angle objective lens 112.

The light source section 123 supplies light to illuminate the subject A to the base end portion of the optical fiber 121. The light source section 123 includes an LED (Light Emitting Diode) element 125 and a first driving circuit 126. In addition, a xenon tube may be used instead of the LED element 125, but in this case, the light source The portion 123 is provided separately from the insertion portion 110, and the illumination light is guided to the insertion portion 110 through a long line.

The LED element 125 has a built-in element that emits light of three colors of red (R), green (G), and blue (B), and irradiates an incident end of the optical fiber 121 with white light obtained by mixing colors.

The first driving circuit 126 drives the LED element 125 in accordance with the control of the control device 140. The first driving circuit 126 dims and controls the LED element according to the control of the control device 140 through PWM control or the like.

The imaging device 130 is attached to the base end portion of the insertion portion 110 in a detachable manner. The light incident through the hollow light guide region 113 of the cylindrical portion 111 captures an image of the subject A, and The image is provided to the control device 140. More specifically, the imaging device 130 includes an imaging element 131, a second driving circuit 132, an A / D conversion unit 133, and a transmission unit 134.

FIG. 3 is a diagram for explaining a pixel pitch of an imaging element. The image sensor 131 is composed of a so-called 8K color image sensor of 7680 × 4320 pixels (pixels). Therefore, according to the 8K endoscope device 100, a high-definition captured image can be obtained.

However, by simply setting the pixel number of the image sensor to 8K (7680 × 4320 pixels), it is not necessarily possible to achieve a true resolution of 8K (density of the image) on the display device (display) 150.

In order to really achieve 8K resolution, "the pixel size must be large" is necessary. If the pixel size of the image sensor is too small, it cannot be resolved due to the diffraction limit of light, and it will become a blurred image. For endoscope In some cases, because of the limitation of being able to be inserted into a body cavity, since the aperture of the built-in lens of the endoscope is very small, it is difficult to use a large image sensor if this is maintained.

In addition, it is considered that the light path introduced into the endoscope is fully enlarged by the enlargement lens to fill the image sensor. However, as the magnification increases (farther away from the focal length), the area of the image circle on the screen increases, but the range of viewing angles at which reflected light becomes narrower. Therefore, there is a problem that the amount of light (photons) received by the image sensor decreases and the image becomes dark. This problem can be solved by changing the sensitivity of the image sensor to 4 times in 8K and brightening the LCD monitor.

In order to achieve 8K resolution, the pixel pitch P of the imaging element 131 is set to a size equal to or larger than the diffraction limit of the main light used when the subject A is illuminated. Specifically, the pitch P is set to a value larger than the wavelength of the illumination light emitted from the diffusion layer 122, that is, set to a value larger than the reference wavelength λ corresponding to the wavelength of the light emitted by the LED element 125. In addition, when the illuminating light includes light having a plurality of wavelengths, the reference wavelength λ is the light having the longest wavelength among the three primary color lights constituting the illuminating light, that is, the wavelength that mainly means red light. In other words, it means the wavelength at which the energy is greatest in the spectral region corresponding to red.

In addition, if the opening degree (f-number) of the lens system is increased, the resolution is reduced although the brightness is increased. The aperture is reduced, and the resolution is increased but darkened. Therefore, it can be known that in 8K, the opening degree (f value) is 10 to 16, and the pixel pitch (pixel pitch) P is appropriately 2.8 to 3.8 μm. If the pitch is too small, interference images will be blurred. If it is too large, the substrate will change Large, volume / weight, speed, etc. can become disadvantageous. 3.0 ~ 3.5μm is more suitable. When the pixel pitch P is 2.8 to 3.8 μm, the size of the image sensor 131 is approximately 20 to 30 mm × 12 to 18 mm. It is surrounded by the frame portion 234 of the substrate on which the imaging element 131 is mounted, the circular eyepiece mount portion 114, and then by the rectangular frame portion and the frame 138. Then, the mounting portion 135 of the imaging element 131 is mounted The dimensions are, for example, 80 mm × 80 mm × 30 mm. In contrast, the size of the grip portion 136 is, for example, 60 mm × 53 mm × 105 mm (see FIG. 5) in terms of ease of grip and operation. Therefore, above 8K, the vertical / horizontal dimensions will be considered to vary by ± 10mm. Typically, the cross-sectional area of the mounting portion 135 of the built-in camera element 131 perpendicular to the optical axis is greater than or equal to A cross-sectional area of the grip portion 136 perpendicular to the optical axis. In addition, when the erection portion is circular, the size of the erection portion is, for example, 70 mmΦ × 30 mm. The same is true. The cross-sectional area perpendicular to the optical axis of the mounting portion of the built-in image pickup element 131 is greater than or equal to the cross-sectional area perpendicular to the optical axis of the holding portion held / transported by a human hand.

Because there are many pixels, it is possible to record the color of fine areas in one pixel. For example, a thin line of 20 μ can be recognized at 8K. (Although pixels are visible to the naked eye at 2K, 8K is not visible.) The number of pixels (about 33 million) in 8K is 16 times that of 2K (about 2 million). The display device 150 (see FIG. 1) is expressed by the number of pixels = viewing angle (monitor area) × pixel density. For example, when the field of view becomes 4 times 2K, the pixel density becomes 4 times 2K. The viewing angles of the monitor screens are set to 30 degrees at 2K, 60 degrees at 4K, and 100 degrees at 8K, because the presence is almost saturated at 100 degrees. If you want to feel the presence, 8K is sufficient.

The imaging element 131 may include pixels corresponding to 8K or more. Moreover, in the real world, even if the number of components is less than 8K, a clearer image can be obtained than 4K, so it may be sold as 8K. Therefore, it can be said that the number of pixels 6K is equivalent to 8K.

FIG. 4 is an external view of the imaging device 130, FIG. 5 is a view showing a substrate arrangement and a frame size of the imaging device 130, and FIG. 6 is an assembly view of components. Fig. 5 (a) is a front view, Fig. 5 (b) is a plan view, and Fig. 5 (c) is a cross-sectional view taken along A-A. Fig. 6 (a) is an exploded view, and Fig. 6 (b) is a perspective view of the completed body after assembly. The mounting portion 135 mounts the diaphragm 233 and the imaging substrate (the imaging element 131 is mounted) at approximately 80 mm × 80 mm × 30 mm. A eyepiece lens mount portion 114 that mounts the eyepiece lens 115 is attached to the mount portion 135, and an insertion portion 110 is attached to the eyepiece mount portion 114. The grip portion 136 is about 60 mm × 53 mm × 105 mm, and has a size capable of being held in a hand. In order to mount an imaging substrate requiring a pixel pitch of 8K × the number of pixels, the sectional area of the mounting portion 135 ≧ the sectional area of the holding portion 136. In FIG. 5, 137A is a Peltier element that cools the substrate on which the imaging element 131 is mounted, and 137B is a Peltier element (there may be none) that cools the control substrate 231 (optionally) left in the imaging device 130. Numeral 232 denotes a frame (same size) that is in contact with the eyepiece mount 114 with a circular frame, and is connected to the diaphragm 233. In FIG. 6, 232 is a circular frame, and 234 is a frame of a substrate on which the imaging element 131 is mounted.

In addition, in order to reduce the size and weight, the frame 138 uses, for example, a lightweight metal (Al, etc.) or FRP (for example, a nylon powder processor). With the previous image pickup device, it is possible to achieve a weight of 500 g or less. As a result, handling and transportation become easy, and reliability of the operation is greatly improved.

Here, go back to Figure 2. The second driving circuit 132 controls the start and end of the exposure of the imaging element 131 in accordance with the control of the control device 140, and reads out a voltage signal (pixel voltage) of each pixel.

The A / D conversion unit 133 converts the pixel voltage read from the image sensor 131 by the second driving circuit 132 into digital data (video data), and outputs the digital data (video data) to the transmission unit 133.

The transmitting unit 134 outputs the luminance data output from the A / D conversion unit 133 to the control device 140.

FIG. 7 is a block diagram showing a detailed configuration of the control device 140. The control device 140 is a device that controls the entire endoscope apparatus 100, and includes a control unit 141, an image processing unit 142, a memory unit 143, an input / output IF (interface) 144, and an input device 145.

The control unit 141 is composed of a CPU (Central Processing Unit), a memory, and the like. The memory unit 143 stores the luminance data transmitted from the transmitting unit 134, and the image processing unit 142 processes the image data, and displays the image data on the display device 150. The control unit 141 further controls the first driving circuit 126 and the second driving circuit 132.

The image processing unit 142 is composed of an image processor and the like. According to the control of the control unit 141, the image data stored in the memory unit 143 is processed, and one frame of image data (frame data) is reproduced and stored in the memory部 143. In addition, the image processing unit 142 applies various image processes to the frame unit image data stored in the storage unit 143. For example, shadow The image processing unit 142 performs enlargement / reduction processing to enlarge / reduce each video frame at an arbitrary magnification.

The enlargement / reduction system uses digital zoom. Since the memory section 143 stores a sharp image, it is not blurred even if the image is enlarged by digital zoom. Therefore, a wide-field-of-view image can be displayed clearly, and a wide-field surgical space can be provided. When digital zoom is used in combination with image processing (sharpening processing), for example, by emphasizing the contrast between the affected part and other parts, it is possible to obtain a sharper image.

According to the endoscope device 100 of this embodiment, as the light source of the lighting device 120, an LED element 125 capable of obtaining high energy is used. Therefore, high-brightness illumination light can be obtained, and further, a high-brightness image can be obtained.

FIG. 8 is a diagram showing the arrangement of the optical fibers 121 in the cylindrical portion 111 in the insertion portion 110. FIG. 8 (a) shows a configuration in which the optical fiber 121 of the present embodiment is one, and FIG. 8 (b) shows a configuration in which a plurality of optical fibers 221 are arranged along the cylindrical portion 211.

In addition, since the illumination light is guided by the optical fiber 121 disposed on the inner wall of the cylindrical portion 111, the space of the hollow light guide portion 113 of the cylindrical portion 111 can be effectively used for the light guide of the light from the subject A. More specifically, as an illumination form of the endoscope apparatus 100, as shown in FIG. 8 (b), a method of disposing the optical fiber 221 on the circumference of the cylindrical portion 211 is known. In this method, the space in the cylindrical portion 211 is occupied by the illumination optical fiber 221. Therefore, the path of the subject image is narrowed, and it is difficult to project a large image onto the imaging surface of the imaging element 131. In contrast, in the endoscope apparatus 100, as shown in FIG. 8 (a), the cylinder is enlarged The hollow light guide section 113 of the section 111 can be used for light guide of light from the subject A. In the case of the endoscope device 100, since the outer diameter of the insertion portion is limited, a large effect can be achieved for effectively utilizing the light guide hollow portion 113.

FIG. 11 is a diagram showing a configuration example of an 8K endoscope system in a pattern. The main parts of the 8K endoscope system 100 are an insertion part 110 and an imaging device 130. The insertion section 110 is configured by, for example, a rigid lens barrel having an external shape of 10 mm and a lens system of 6 mm, and the imaging device 130 is configured by, for example, an 8K camera head having CMOS as the imaging element 131. A xenon light source is used as the light source section 123 of the lighting device 120, and the eyepiece of the insertion section 110 and the lens mounting section of the imaging device 130 are combined. The image data recorded by the imaging device 130 is stored in the 8K recorder as the storage unit 143 of the control device 140 by the camera control unit as the second drive circuit 132, and displayed on the liquid crystal monitor as the display device 150 by the control unit 141 (8K resolution is shown) 150.

FIG. 9 shows a comparative example of endoscopic images of 8K and 2K (part 1). Fig. 9 (a) is a 2K endoscope image (photographic image), Fig. 9 (b) is a 256x enlarged image at 2K (a part is cut out), and Fig. 9 (c) is a 256x enlarged image at 8K (Cut out a part). These endoscopic images represent those in the abdominal cavity of a pig. In the 2K image, if it is enlarged, the details may collapse and become unrecognizable. In the 8K image, for example, a 10-0 suture (0.020 to 0.029 mm in diameter) can be recognized.

FIG. 12 shows a comparative example of endoscopic images of 8K and 2K (part 2). Figure 12 (a) is a 2K endoscope image (photographic image and one (Partially enlarged view), and FIG. 12 (b) is an 8K endoscope image (a photographic image and an enlarged view of a part thereof). Although the large intestine blood vessels are not clear in 2K images, they can be observed with high definition in 8K images.

FIG. 13 is a diagram for explaining a method of observing the boundary (adhesive interface) between the organ and the tissue. FIG. 13 (a) is a diagram for explaining the adhesion interface, and FIG. 13 (b) is a diagram for separating the adhesion interface. In order to safely dissect the interface between the organ / tissue, the boundaries need to be identified. In the case of 8K endoscope images, difficult-to-recognize boundaries can be accurately identified and safely separated. It is also possible to identify normal parts and abnormal parts such as cancer.

FIG. 14 is a diagram comparing a field of view of a 2K endoscope and a field of view of an 8K endoscope. FIG. 14 (a) is a diagram showing an example of an 8K endoscope image, and FIG. 14 (b) is a diagram showing an example of a 2K endoscope image. The previous 2K endoscope can only see the narrow central area, and if there are bleeding points around it, it will be missed. However, the 8K endoscope is not only the central area (surgical area), because it can switch or display a wide range of surrounding images at the same time, and the surrounding bleeding points can also be seen with peace of mind.

FIG. 10 is a diagram illustrating a new surgical space using an 8K endoscope.

In 8K images, the viewing angle can be enlarged, and it can be enlarged with maintaining sharpness. Therefore, for example, it is possible to grasp the position of the distal end of the surgical instrument by zooming out, and to position the distal end of the surgical instrument by zooming in and out of the surgical instrument, and to observe the magnification. In addition, if the angle of view is wider, it can be placed at a position where the fixed camera is pulled and photographed, which can expand and display a wide surgical space with digital zoom. between. Thereby, a wide-field surgical space can be realized, and it can also be adapted to a wide range of operations. For example, you can avoid the interference of surgical equipment without moving the camera. It is also possible to display the enlarged image enlarged at the operation site together with the wide-angle image before enlargement.

FIG. 15 is a diagram for explaining the superiority of an 8K endoscope in a single-hole operation. If an 8K endoscope is used for photography, since it can be taken away from the subject A, it is easy to avoid conflicts with surgical instruments. Although single-hole surgery has been evaluated as being minimally invasive (less burden on the patient), the degree of freedom of movement of the surgical instrument is low. The 8K endoscope can take pictures from the pulled position and observe the photographic image enlarged with digital zoom for surgery. Because the endoscope is far from the surgical site, the surgery is easy.

FIG. 16 is a diagram for explaining the superiority of the 8K endoscope during the exchange of surgical instruments. FIG. 16 (a) is a diagram for explaining the exchange of surgical instruments with a 2K endoscope, and FIG. 16 (b) is a diagram for explaining the exchange of surgical instruments with an 8K endoscope. Because the 2K endoscope has a small field of view, when the surgical instruments (i) used so far and the exchanged surgical instruments are taken into the operating space (ii), they will run out of the field of vision of the endoscope. It takes labor and time. When an 8K endoscope camera is used, when the surgical instruments (i) and (ii) are replaced, the surgical instruments are narrowed down to find a wide range of surgical instruments, and after entering the field of view, they are enlarged (iii) to perform surgery. This makes it easy to exchange and move the surgical instrument, which can shorten the operation time.

This section explains the surgical space. For example, the length of the cylindrical portion 111 of the insertion portion 110 is 10 to 20 cm (formerly 20 to 30 cm). The length of the intrusion into the body cavity is 0 ~ 150mm (previously 100 ~ 200mm), and the focal length of the objective lens system is 10 ~ 150mm. It can also be observed at super close range, and it can also be focused over a wide range. In addition, the operating space is expanded by the injection of gas. In the past, although the range of the focused and clear image can be obtained by optical observation, the image of the subject A can be clearly observed even at a relatively long distance because the photographic image is observed with digital zoom. Observation by digital zoom and shortening of the length of invasion into the body cavity can expand the operating space. For example, the distance between the tip of the insertion section 110 and the subject A (the height of the surgical space) can be 50 to 150 mm on the subject. When the length of the invaded body cavity is 0 to 30 mm, and the distance between the front end of the insertion section 110 and the subject A (the height of the surgical space) is set to 80 to 120 mm on the subject, the surgical space can be enlarged and observed. To sharp images is therefore better. In addition, when observing at a close distance, observation of 10-50mm is also possible. In addition, by using a digital zoom, a magnifying glass is not required, and the operation is easier.

In addition, since the length of the insertion portion 110 is shortened, it is possible to reduce the image shake caused by the hand shake of the operator holding the imaging device. In addition, since the number of relay lenses is shorter and smaller, attenuation or aberration of light is reduced, and a bright lens system is obtained. Therefore, a sharp image can be obtained.

If the operating space becomes larger, a minimally invasive (small burden on the patient) single-hole surgery (with the oral cavity in one place) becomes possible. It is possible to avoid conflicts between surgical instruments such as surgical knives and pliers. In addition, when replacing surgical instruments, it is possible to narrow down, search for surgical instruments, and perform position correction. This can shorten the operation time. Use 8K video display in this way Technology, using the enlargement / reduction technology, can improve the reliability and safety of the operation, shorten the operation time, and greatly change the operation environment. The creation of such a wide surgical space, digital zoom and large screen display can greatly change the operating environment. Improved medical treatment with high reliability and safety.

The storage unit 143 is a memory: an operation program of the control unit 141, an operation program of the image processing unit 142, image data received from the transmitting unit 134, frame data reproduced by the image processing unit 142, processed frame data, and the like.

The input / output IF 144 functions as an interface for transmitting and receiving data between the control unit 141 and an external device. The input device 145 is composed of a keyboard, a mouse, keys, a touch panel, and the like, and provides a user's instruction to the control unit 141 through an input / output IF 144.

The display device 150 is composed of a liquid crystal display device or the like having a display pixel number corresponding to 8K, and displays an operation screen, a captured image, a processed image, and the like according to the control of the control device 140.

In 8K, display devices can use large screen monitors. Because the memory section 143 stores 7680 × 4320 pixels, a large-screen monitor of 30 inches or more is used, for example. Even large screen monitors can observe naturally. Therefore, all the persons involved in the surgery can share the same image, and communication becomes smooth. (The operator can also see the divergent images from the camera).

The endoscope is different from the TV broadcast camera and is used in a dedicated facility. Therefore, the imaging device 130 and the control device 140 installed in the insertion portion 110 are connected by a cable 146 (see FIG. 2) having a length of several meters. The control device 140 and the display device 150 are placed on a mounting table or the like.

The illuminating device 120, the imaging device 130, and the control device 140 are each constituted by a separate body. Therefore, the structure (insertion portion 110 + imaging device 130 + lighting device 120) attached to the insertion portion 110 is lightweight and miniaturized, and it is relatively easy to retrieve the insertion portion 110. In addition, the cable 146 that connects the lighting device 120 and the imaging device 130 to the control device 140 differs from a broadcasting site where the operating room is only 1 to 10 m, which is more than several hundred meters depending on the situation. The signal degradation caused by the cable 146 is minimal, and there is almost no adverse effect due to separation.

The cooling mechanism 137 of the imaging device 130 will be described with reference to FIG. 5 (c).

When the imaging device 130 is continuously operated, heat is generated. Increasing the sensitivity of the image sensor constituting the image sensor 131 increases the amount of heat generation. Next, if the temperature of the imaging device 130 rises, the noise component to the video signal will increase, the S / N ratio of the signal will decrease, and the image quality of the image displayed on the monitor screen will decrease. The cooling mechanism 137 is provided for the above reasons.

In this embodiment, a Peltier element as the cooling unit 137 is provided inside the housing 138, and the imaging element 131 is radiated from the heat generating side of the Peltier element 137A. That is, the casing 138 is provided with an air inlet 139A for inhaling external air, and an air exhaust port 139B for exhausting the internal air of the frame 138. The air intake port 139A and the air exhaust port 139B are closed and constructed (for disinfection Ethylene oxide gas does not enter). Next, the intake port 139A and the exhaust port 139B are respectively connected and fixed with one end of a switching valve member (not shown). In addition, the suction port 139A is driven by a negative pressure source (not shown), and the housing is pulled from the exhaust port 139B side by the negative pressure attraction force. The air in 138 is discharged, and an air flow that takes in the outside air is formed from the intake port 139A, thereby forming a cooling flow path. Because of the air flow, the heat generating side of the Peltier element 137A exchanges heat with air at outside temperature. The Peltier element 137B dissipates heat remaining on the substrate 139C of the imaging device. As a result, even if the inside of the housing 138 is heated by the driving of the imaging device 130, it can be efficiently cooled and the temperature of the imaging device 130 is suppressed rise. Next, the S / N ratio of the imaging device 130 is maintained at a high state so as to reduce noise on the video signal and display a high-quality image on a monitor. In addition, in order to prevent dust mixed with exhaust gas from entering the treatment space, the exhaust pipe is set to 5 m or more.

Next, an operation of the endoscope apparatus 100 having the above-described configuration will be described.

When the endoscope 100 is used, the user (operator) operates the input device 145 and issues an instruction to turn on the endoscope device 100. In response to the instruction, the control unit 141 turns on the first driving circuit 126 and the second driving circuit 132.

The first driving circuit 126 lights a light source (xenon tube, LED element 125, etc.), and the second driving circuit 132 starts imaging by the imaging element 131.

The white light output from the LED element 125 is diffused and irradiated by the optical fiber 121 in the diffusion layer 122.

The imaging element 131 captures an incident image on the objective lens 121 and the light guide hollow portion 123. From the relationship between the opening degree (f value) of the lens system and the pixel pitch P of the imaging element 131, the pixel pitch P is preferably 2.8 to 3.8 μm, and a pixel pitch P in this range is used. Therefore, a bright and high-resolution image can be obtained.

The second drive circuit 132 sequentially reads the pixel voltage of each pixel from the imaging element 131, converts it into digital image data by the A / D conversion unit 133, and sequentially sends it from the transmission unit 134 to the control device 140 through the cable 146 .

The control unit 141 of the control device 140 sequentially receives the transmitted image data through the input / output IF 144 and stores them in the storage unit 143 in order.

Under the control of the control unit 141, the image processing unit 142 processes the image data stored in the memory unit 143, reproduces the frame data, and performs appropriate processing at the same time.

The control unit 141 appropriately reads out the frame data stored in the storage unit 143, and supplies it to the display device 150 through the input / output IF 144 to display it.

The user (the operator) confirms the display of the display device 150 and inserts the insertion portion 110 into the body cavity. After the insertion unit 110 is inserted into the body cavity, the subject A is illuminated by light from the diffusion layer 122, and the imaging element 131 captures an image of the subject A, and displays the captured image on the display device 150.

As described above, according to the present embodiment, it is possible to provide a compact and lightweight endoscope device with high resolution.

[Example 2]

This embodiment describes an example in which control keys are arranged in the housing 138 of the imaging device 130. The keys perform control of the display position of the display device 150, control of enlargement and reduction, adjustment of the focus of the lens system of the insertion section 110, adjustment of the aperture, and the like. Such control / adjustment is convenient because it is performed by hand.

The other device configurations are the same as those of the first embodiment, and the same as the first embodiment can provide a small and lightweight endoscope device with a high resolution.

[Example 3]

This embodiment describes an example of using a database. If the past medical diagnosis data is accumulated in the memory unit 143, the accumulated data can be used in the operation or analysis of the data. For example, comparison of images that change over time, comparison of health status and abnormal status, and the like can be performed. This is linked to the development of medical / diagnostic technology and increased reliability.

The other device configurations are the same as those of the first embodiment, and the same as the first embodiment can provide a small and lightweight endoscope device with a high resolution.

Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various changes can be added to the embodiment without departing from the scope of the present invention.

For example, in this embodiment, although an example in which one optical fiber is mounted on the insertion portion 110 has been described, in order to increase the illumination light, a plurality of optical fibers may be provided, and a plurality of the peripheral portions 115 may be provided around the entire periphery. In addition, in this embodiment, it is explained that The lens system in which the reflected light is transmitted to the imaging device 130 has a configuration example of one objective lens 112, but a configuration in which the reflected light from the object is transmitted to the imaging device 130 through a plurality of relay lenses may be used. In this embodiment, an example in which the objective lens 112 of the insertion section 110 is horizontally installed will be described, but it may be installed obliquely. When tilted, the insertion part can be rotated to observe a wider range. In addition, as the image processing, it is also possible to make an overlapped comparison of images that change with the passage of time. If translucent images are used at this time, it is easier to grasp the change of the affected part over time. In addition, the shape, size, and weight of each part of the endoscope device, and the screen size of the image sensor or image monitor can be appropriately changed within a proper range.

[Industrial availability]

The invention is applied to an endoscope device used in minimally invasive surgery.

Claims (11)

An endoscope device includes: an insertion portion inserted into a body cavity to guide light from a subject; an illumination device installed in the insertion portion to illuminate the subject; and equipped with a matrix-shaped 8K level or higher Pixels that receive the reflected light from the subject guided by the inserting unit and output the imaging signal of the subject, and can be installed with the inserting unit and the lighting device. An imaging device held and carried by a human hand; wherein the inside of the imaging device includes a cooling unit that performs heat radiation of the imaging element, and an air inlet and an air outlet that form a cooling flow path; The air port and the exhaust port are hermetically sealed; the imaging device has a cross-sectional area perpendicular to the optical axis of the mounting portion of the imaging element, which is greater than or equal to the mounting portion adjacent to the mounting portion in the direction of the optical axis and is manually operated by the human hand. The cross-sectional area of the grip portion that is gripped / transported is perpendicular to the optical axis. An endoscope device comprising: an insertion portion inserted into a body cavity to guide light from a subject; and an illumination device mounted on a surface near a base end of the insertion portion in a manner capable of being detached and irradiating the subject ; An imaging element equipped with pixels arranged at a level of 8K or more in a matrix, receiving reflected light from the subject guided by the inserting unit, and outputting an imaging signal of the subject, and loading and unloading The imaging device may be installed with the insertion part and the lighting device in a possible manner, and the imaging device may be held / carried by a human hand; wherein the imaging device includes a cooling unit for releasing heat of the imaging element, and a cooling channel forming a cooling channel. The air inlet and the air outlet; the camera device is sealed except for the air inlet and the air outlet; the camera device has a cross-sectional area perpendicular to the optical axis of the mounting portion of the camera element, which is larger than or equal to It is equal to the cross-sectional area perpendicular to the optical axis of the grip portion held / transported by the aforementioned human hand. An endoscope device comprising: an insertion portion inserted into a body cavity to guide light from a subject; a lighting device installed in the insertion portion to irradiate the subject; and guiding illumination light from the lighting device, and An optical fiber arranged on the inner wall of the inserting section; having 8K-level pixels or more arranged in a matrix, and receiving reflected light from the subject guided by the inserting section, An imaging device that outputs an imaging signal, and can be installed with the insertion part and the lighting device, and can be held / carried by a human hand; wherein the imaging device includes a cooling unit for releasing heat from the imaging device, And an intake port and an exhaust port forming a cooling flow path; the camera device is sealed except for the intake port and the exhaust port; the camera device includes a mounting portion of the mounting portion of the camera element that is perpendicular to the optical axis The cross-sectional area is greater than or equal to the cross-sectional area perpendicular to the optical axis of the grip portion held / transported by the aforementioned human hand. An endoscope device includes: an insertion portion inserted into a body cavity to guide light from a subject; an illumination device installed in the insertion portion to illuminate the subject; and equipped with a matrix-shaped 8K level or higher Pixels that receive reflected light from the subject guided by the inserting unit, and output imaging signals of the subject other than CCD, and can mount the inserting unit and the lighting device. And an imaging device that can be held / carried by a human hand; wherein the inside of the imaging device includes: a cooling unit that performs heat radiation of the imaging element; and an air inlet and an exhaust port that form a cooling flow path; the imaging device Is sealed except for the air inlet and the air outlet; the pitch of the image pickup element is 2.8 μm or more and 3.8 μm or less. An endoscope device comprising: an insertion portion inserted into a body cavity to guide light from a subject; a lighting device installed in the insertion portion to irradiate the subject; and guiding illumination light from the lighting device, and An optical fiber arranged on the inner wall of the inserting section; having 8K-level pixels or more arranged in a matrix, and receiving reflected light from the subject guided by the inserting section, An imaging device that outputs an imaging signal, and can be installed with the insertion part and the lighting device, and can be held / carried by a human hand; wherein the imaging device includes a cooling unit for releasing heat from the imaging device, And an intake port and an exhaust port forming a cooling flow path; the imaging device is sealed except for the intake port and the exhaust port; and a pitch of the imaging element is 2.8 μm or more and 3.8 μm or less. The endoscope device according to any one of claim 1 to claim 5, wherein the lighting device, the imaging device, and the control device are each constituted by an individual body, and the weight of the imaging device is 500 g or less. The endoscope device according to any one of claim 1 to claim 5, wherein the insertion section includes a lens system including an objective lens having a viewing angle of 80 degrees or more, and light supplied from the lighting device. Diffused and emitted to the diffusion layer of the subject. The endoscope apparatus according to any one of claim 1 to claim 5, wherein the imaging apparatus includes an A / D conversion unit that converts a pixel voltage into pixel data; and the endoscope apparatus further includes : It has a memory unit that memorizes the pixel data provided from the camera device, constructs frame data from the pixel data, processes the frame data, and uses digital zoom to adjust the magnification of the frame data. Control device of the image processing unit; a display device that displays the frame data constructed by the image processing unit on a large screen. An endoscope device includes: an insertion portion inserted into a body cavity to guide light from a subject; an illumination device installed in the insertion portion to illuminate the subject; and equipped with a matrix-shaped 8K level or higher Pixels that receive the reflected light from the subject guided by the inserting unit and output the imaging signal of the subject, and can be installed with the inserting unit and the lighting device. The camera device held / carried by a human hand; and the endoscope device further includes a memory unit having memory of the pixel data provided from the camera device, constructing frame data from the pixel data, and combining the frame Control device of the image processing unit for processing the data and adjusting the magnification of the frame data using digital zoom; a display device for displaying the frame data constructed by the image processing unit on a large screen; The inside of the device includes a cooling unit that performs heat radiation of the imaging element, and an air inlet and an air outlet that form a cooling flow path; Imaging device, in addition to the intake and exhaust ports are closed; the distal end of the insertion portion of the subject distance to the object can be focused in the range of 1 to 15cm in the subject. An endoscope device comprising: an insertion portion inserted into a body cavity to guide light from a subject; a lighting device installed in the insertion portion to irradiate the subject; and guiding illumination light from the lighting device, and An optical fiber arranged on the inner wall of the inserting section; having 8K-level pixels or more arranged in a matrix, and receiving reflected light from the subject guided by the inserting section, An image pickup device that outputs an image pickup signal, and an image pickup device that can mount the insertion portion and the lighting device and can be held / carried by a human hand; and the endoscope device further includes the pixels provided from the image pickup device. A memory device of data memory, a control device of an image processing unit that constructs frame data from the aforementioned pixel data, processes the frame data, and uses digital zoom to adjust the magnification of the frame data; A display device for displaying the frame data constructed by the processing unit on a large screen, wherein the imaging device includes: The heat radiation unit of the component, and the air intake and exhaust ports forming the cooling flow path; the camera device is sealed except for the air intake and exhaust ports; the distance between the front end of the insertion portion and the subject Focus on the aforementioned subject within 1 to 15 cm. The endoscope device according to claim 9 or 10, wherein a length of the cylindrical portion of the insertion portion is 10 to 20 cm.